TORQUE RESOLVER DESIGN FOR TENDON-DRIVEN MANIPULATORS

Given a set of desired joint torques in an n-DOF tendon-driven manipul ator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is us ed to solve for such a problem. In this paper, rather than using the p seudo-inverse technique, an efficient methodology for transforming joi nt torques (n elements) to motor torques (n + 1 elements) has been dev eloped. This technique, called ''torque resolver, '' utilizes two circ uit-like operators to transform torques between the two different vect or spaces. It can be easily programmed on a digital computer or implem ented into an analog-circuit system. It is hoped that this technique w ill make real-time computed-torque control feasible. The technique has been demonstrated through the dynamic simulation of a three-DOF manip ulator.